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Nonlinear control of a single axis servopneumatic test facility with redundant actuators.

Klier W., Hahn H.

Systems Science

1999

Vol. 25, nr 1

89-101

In this paper nonlinear control algorithms of a single axis test facility with redundant actuators will be derived, based on exact linearization techniques. This controller provides apart from stabilization of the test facility dynamics additional desired overconstraint control of the redundant actuators. This latter task has been solved by suitably extending the system output of the single axis test facility and by including an orthogonality relation in the controller design. Computer simulations prove the functioning and validity of the control concept.